CN206242834U - One kind can flight formula power circuit walking operation robot - Google Patents
One kind can flight formula power circuit walking operation robot Download PDFInfo
- Publication number
- CN206242834U CN206242834U CN201621377522.4U CN201621377522U CN206242834U CN 206242834 U CN206242834 U CN 206242834U CN 201621377522 U CN201621377522 U CN 201621377522U CN 206242834 U CN206242834 U CN 206242834U
- Authority
- CN
- China
- Prior art keywords
- rotor
- robot
- power circuit
- processing unit
- central processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses can flight formula power circuit walking operation robot, including robot body is fixedly connected with electric cabinet, central processing unit is provided with the electric cabinet below the robot body；The robot body includes walking mechanism, it includes mechanical arm drive module and mechanical arm, the mechanical arm drive module is connected with central processing unit, the end of the mechanical arm is provided with end effector or manipulator, central processing unit for control machinery arm drive module driving mechanical arm move, realize can flight formula power circuit walking operation robot walking operation.Rotor arm is also associated with the robot body, the rotor arm is connected with rotor, and the rotor is connected with rotor drive module, and rotor drive module is connected with central processing unit.
Description
Technical field
The utility model belongs to Working mechanism field, more particularly to one kind can flight formula power circuit walking operation machine
People.
Background technology
High-rise working refers to the operation that eminence of the people on the basis of certain position is carried out.Standard GB/T/T 3608-2008
《High-rise working is classified》Regulation：" all eminences for being possible to fall in more than height of fall datum level 2m (containing 2m) carry out operation, all
Referred to as high-rise working." according to this regulation, the scope that high-rise working is related in construction industry is quite extensive.In building
In thing during operation, if being operated on the shelf of more than 2m, as high-rise working.
Traditional work high above the ground is that operating personnel operates in person, and carries out during climbing operation operating personnel due to not having
Job platform, can only climb can operation on the shelf by thing, to be climbed by proficiency, a pin is hooked or keeps flat with waist rope
Weighing apparatus, centre of body weight vertical line is not by underfooting, and task difficulty is big, dangerous big, if having may fall accidentally.
At present, inspection robot is increasingly being used in Electric Power Patrol field of operation, instead of manually carrying out power circuit
The work such as monitoring, maintenance.During Electric Power Patrol, when power circuit occurs the failures such as insulator arc-over, partial short-circuit, most directly
The performance for connecing is too high local temperature.In addition, power circuit also has stranded, annex the failure such as coming off.Therefore, power circuit
Line walking monitoring is a very the key link.Traditional inspection robot is complicated due to high-tension line and tower structure, line walking
Robot will not only complete tour, service work, also want the structural obstructions in continuous span line, influence the work of inspection robot
Make efficiency.
In recent years, with the lifting of unmanned air vehicle technique, unmanned plane is also more and more used for line walking.Unmanned plane has flexible
Efficiently, the advantage not constrained by line environment, but obvious shortcoming there is also using unmanned plane merely：Unmanned plane continuation of the journey is usual
It is shorter, it is necessary to continually charge, the effective time is limited；It is to ensure safety, unmanned plane is unable to that distance line is too near, and this just leads
Cause some complex regions to might have the monitoring project of omission, leave potential safety hazard.
Utility model content
In order to solve the shortcoming of prior art, the purpose of this utility model is to provide one kind can flight formula inspection robot.
One kind of the present utility model can flight formula power circuit walking operation robot, including robot body, the machine
Electric cabinet is fixedly connected with below device human body, central processing unit is provided with the electric cabinet；
The robot body includes walking mechanism, and it includes mechanical arm drive module and mechanical arm, and the mechanical arm drives
Dynamic model block is connected with central processing unit, and the end of the mechanical arm is provided with end effector or manipulator, and central processing unit is used
In control machinery arm drive module driving mechanical arm motion, realize can flight formula power circuit walking operation robot line walking make
Industry；
Rotor arm is also associated with the robot body, the rotor arm is connected with rotor, the rotor drives with rotor
Dynamic model block is connected, and rotor drive module is connected with central processing unit.
Further, the end effector includes reducing gear, and the reducing gear is connected with motor-driven mechanism, institute
Motor-driven mechanism is stated to be connected with central processing unit.
Further, the rotor arm is fixedly mounted on robot body.
It is of the present utility model can the rotor arm of flight formula power circuit walking operation robot be fixedly mounted on robot sheet
On body, it is adaptable to which robot needs often flight, and the less complicated situation of working environment, i.e. rotor do not interfere with robot work
Industry is interfered with the object of surrounding.
Further, the rotor arm is hingedly attached on robot body, between the robot body and electric cabinet
Also it is reserved with rotor receiving space.Wherein, rotor receiving space is used to accommodate rotor arm.
Further, the rotor arm is also connected with rotor arm drive module, rotor arm drive module and central processing unit
It is connected, the central processing unit is used to control rotor arm drive module to drive rotor arm to be folded in rotor receiving space.
Rotor arm of the present utility model is hingedly attached on robot body, and rotor arm is foldable, can be by rotor
It is folded in rotor receiving space, it is to avoid rotor and robot manipulating task or the problem interfered with the object of surrounding.
Further, the robot body is also equipped with the first image capture module and the second image capture module, point
The power circuit running status image information of inspection robot direction of advance and opposite direction Yong Yu not monitored and centre is sent to
Reason device；Being arranged at the end effector or manipulator of the mechanical arm tail end is used to clamp the 3rd image capture module, in center
Under the control action of processor, mechanical arm drive module driving mechanical arm moves to adjust the monitoring angle of the 3rd image capture module
Degree, finally realizes conduct monitoring at all levels of the inspection robot to power circuit.
Further, the central processing unit is also connected with server, and the server is connected with remote monitoring terminal.This
Sample can by remote monitoring terminal realize monitoring personnel pair can flight formula power circuit walking operation robot working condition
Remote real-time monitoring.
Second purpose of the present utility model be to provide it is a kind of can flight formula power circuit walking operation robot work side
Method.
It is of the present utility model can flight formula power circuit walking operation robot method of work, including：
Central processing unit control machinery arm drive module driving mechanical arm is moved, and then the end of driving mechanical arm end is held
Row device or manipulator behavior, it is final realize can flight formula power circuit walking operation robot walking operation；
Central processing unit drives rotor to work by controlling rotor drive module so that can flight formula power circuit line walking
Work robot flies to predetermined position.
The beneficial effects of the utility model are：
Of the present utility model to be designed with rotor arm in flight formula power circuit walking operation robot, rotor arm is connected to
On robot body, it is adaptable to which robot needs often flight, and the less complicated situation of working environment, i.e. rotor will not shadow
Ring robot manipulating task or interfered with the object of surrounding；The complicated situation of working environment can also be operated in, now rotor arm
It is hingedly attached on robot body, and rotor arm is foldable, controls rotor arm drive module to cause by central processing unit
Rotor is folded in rotor receiving space, it is to avoid rotor and robot manipulating task or the problem interfered with the object of surrounding.
Additionally, inspection robot of the present utility model works under state of flight, overall line walking efficiency, Er Qie are improved
The more region of annex is waited near shaft tower, inspection robot is hung and is worked on the line, it is ensured that the precision of line walking；Needing to make
The place of industry, robot can be directly to up to the place and carry out operation.
Brief description of the drawings
Fig. 1 be it is a kind of can flight formula power circuit walking operation robot constructive embodiment one schematic diagram.
Fig. 2 be it is a kind of can flight formula power circuit walking operation robot constructive embodiment two schematic diagram.
Wherein, 1, electric cabinet；2nd, rotor arm；3rd, rotor；4th, robot body.
Specific embodiment
The technical solution of the utility model is clearly and completely described with embodiment below in conjunction with the accompanying drawings, it is clear that institute
The embodiment of description is a part of embodiment of the present utility model, rather than whole embodiments.
In description of the present utility model, it is necessary to explanation, term " on ", D score, " vertical ", " level ", " interior ",
The orientation or position relationship of the instruction such as " outward " are, based on orientation shown in the drawings or position relationship, to be for only for ease of description this reality
With new and simplified description, device or element rather than instruction or hint meaning must be with specific orientation, with specific
Azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.Additionally, term " first ", " second " are only used for
Description purpose, and it is not intended that indicating or implying relative importance.
, it is necessary to explanation, unless otherwise clearly defined and limited, term " is pacified in description of the present utility model
Dress ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or dismantling connection, or be integrally connected；Can be with
It is to mechanically connect, or electrically connect；Can be directly connected to, it is also possible to be indirectly connected with by intermediary, can be two
The connection of individual element internal.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood in this reality
With the concrete meaning in new.
As long as additionally, technical characteristic involved in the utility model described below difference way of example is each other
Not constituting conflict can just be combined with each other.
Working mechanism of the present utility model be power circuit walking operation robot, high-altitude cleaning robot or it is existing its
The robot of his structure.
Illustrated by taking power circuit walking operation robot as an example below it is of the present utility model can flight formula power circuit patrol
Line Work robot.Below involved central processing unit for current version controller or processor, such as PLC, FPGA or
Other programmable controllers or processor.
Fig. 1 be it is a kind of can flight formula power circuit walking operation robot constructive embodiment one schematic diagram.
It is as shown in Figure 1, it is of the present utility model can flight formula power circuit walking operation robot, including robot body
4, the lower section of the robot body 4 is fixedly connected with and central processing unit is provided with electric cabinet 1, the electric cabinet 1, center treatment
Device is used to control robot body to perform power-line patrolling action；Rotor arm 2, the rotation are also associated with the robot body 4
Wing arm 2 is connected with rotor 3, and the rotor 3 is connected with rotor drive module, and rotor drive module is connected with central processing unit.
Robot body 4 includes walking mechanism, and it includes mechanical arm drive module and mechanical arm, and the mechanical arm drives mould
Block is connected with central processing unit, and the end of the mechanical arm is provided with end effector or manipulator, and central processing unit is used to control
Mechanical arm drive module driving mechanical arm processed motion, realize can flight formula power circuit walking operation robot walking operation.
Wherein, end effector includes reducing gear, and the reducing gear is connected with motor-driven mechanism, and the motor drives
Motivation structure is connected with central processing unit；The reducing gear is used to install power circuit line walking detector, the central processing unit
Drive signal is sent for controlled motor drive mechanism, then drove manipulator motion to realize monitoring later through reducing gear deceleration
The monitoring of power circuit.
Power circuit line walking detector can be：Image collecting device, such as infrared camera and visible image capturing head；Or
Temperature monitor, or electric power ultraviolet imager.
Wherein, worm-and-wheel gear has self-locking performance, for keeping power circuit line walking detector, to avoid any pendulum
It is dynamic.
Further, the rotor arm 2 is fixedly mounted on robot body.
Wherein, rotor drive module is driving structure, can be realized using motor.
It is of the present utility model can the rotor arm of flight formula power circuit walking operation robot be fixedly mounted on robot sheet
On body, it is adaptable to which robot needs often flight, and the less complicated situation of working environment, i.e. rotor does not interfere with robot
Operation is interfered with the object of surrounding.
Further, the robot body is also equipped with the first image capture module and the second image capture module, point
The power circuit running status image information of inspection robot direction of advance and opposite direction Yong Yu not monitored and centre is sent to
Reason device；Being arranged at the end effector or manipulator of the mechanical arm tail end is used to clamp the 3rd image capture module, in center
Under the control action of processor, mechanical arm drive module driving mechanical arm moves to adjust the monitoring angle of the 3rd image capture module
Degree, finally realizes conduct monitoring at all levels of the inspection robot to power circuit.
Further, the central processing unit is also connected with server, and the server is connected with remote monitoring terminal.This
Sample can by remote monitoring terminal realize monitoring personnel pair can flight formula power circuit walking operation robot working condition
Remote real-time monitoring.
Wherein, the first image capture module, the second image capture module and the 3rd image capture module are shooting head mould
Group, the camera module includes infrared camera and visible image capturing head.
Infrared camera is used for thermometric, it is seen that light video camera head is used for monitoring the virtual condition of circuit and annex.
Fig. 2 be it is a kind of can flight formula power circuit walking operation robot constructive embodiment two schematic diagram.
As shown in Fig. 2 rotor arm 2 is hingedly attached on robot body, between the robot body 4 and electric cabinet 1
Rotor receiving space is also reserved with, the rotor arm 2 is also connected with rotor arm drive module, rotor arm drive module and centre
Reason device is connected, and the central processing unit is used to control rotor arm drive module to drive rotor arm to be folded to rotor receiving space
It is interior.
Wherein, rotor drive module is driving structure, can be realized using motor.
Rotor arm of the present utility model is hingedly attached on robot body, and rotor arm is foldable, can be by rotor
It is folded in rotor receiving space, it is to avoid rotor and robot manipulating task or the problem interfered with the object of surrounding.
It is of the present utility model can flight formula power circuit walking operation robot can also to be operated in working environment complicated
Situation, now rotor arm is hingedly attached on robot body, and rotor arm is foldable, and rotor is controlled by central processing unit
Arm drive module causes that rotor is folded in rotor receiving space, it is to avoid rotor is sent out with robot manipulating task or with the object of surrounding
The problem of raw interference.
Additionally, inspection robot of the present utility model works under state of flight, overall line walking efficiency, Er Qie are improved
The more region of annex is waited near shaft tower, inspection robot is hung and is worked on the line, it is ensured that the precision of line walking；Needing to make
The place of industry, robot can be directly to up to the place and carry out operation.
The other structures of aviation mechanism of the present utility model and Working mechanism are existing structure, will be not repeated herein.
It is not new to this practicality although above-mentioned be described with reference to accompanying drawing to specific embodiment of the present utility model
The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Various modifications or deform still in protection model of the present utility model that field technique personnel make by need not paying creative work
Within enclosing.
Claims (6)
1. one kind can flight formula power circuit walking operation robot, it is characterised in that including robot body, the robot
Electric cabinet is fixedly connected with below body, central processing unit is provided with the electric cabinet；
The robot body includes walking mechanism, and it includes mechanical arm drive module and mechanical arm, and the mechanical arm drives mould
Block is connected with central processing unit, and the end of the mechanical arm is provided with end effector or manipulator, and central processing unit is used to control
Mechanical arm drive module driving mechanical arm processed motion, realize can flight formula power circuit walking operation robot walking operation；
Rotor arm is also associated with the robot body, the rotor arm is connected with rotor, the rotor drives mould with rotor
Block is connected, and rotor drive module is connected with central processing unit.
2. one kind as claimed in claim 1 can flight formula power circuit walking operation robot, it is characterised in that the end
Actuator includes reducing gear, and the reducing gear is connected with motor-driven mechanism, and the motor-driven mechanism is processed with center
Device is connected.
3. one kind as claimed in claim 1 can flight formula power circuit walking operation robot, it is characterised in that the rotor
Arm is hingedly attached on robot body, and rotor receiving space is also reserved between the robot body and electric cabinet.
4. one kind as claimed in claim 3 can flight formula power circuit walking operation robot, it is characterised in that the rotor
Arm is also connected with rotor arm drive module, and rotor arm drive module is connected with central processing unit, and the central processing unit is used to control
Rotor arm drive module processed is folded in rotor receiving space driving rotor arm.
5. one kind as claimed in claim 1 can flight formula power circuit walking operation robot, it is characterised in that the machine
Human body is also equipped with the first image capture module and the second image capture module, is respectively used to monitoring inspection robot advance side
To and opposite direction power circuit running status image information and be sent to central processing unit；It is arranged at the mechanical arm tail end
End effector or manipulator are used to clamp the 3rd image capture module, and under the control action of central processing unit, mechanical arm drives
Dynamic model block driving mechanical arm moves to adjust the monitoring angle of the 3rd image capture module, finally realizes inspection robot to electric power
The conduct monitoring at all levels of circuit.
6. one kind as claimed in claim 5 can flight formula power circuit walking operation robot, it is characterised in that the center
Processor is also connected with server, and the server is connected with remote monitoring terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621377522.4U CN206242834U (en) | 2016-12-15 | 2016-12-15 | One kind can flight formula power circuit walking operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621377522.4U CN206242834U (en) | 2016-12-15 | 2016-12-15 | One kind can flight formula power circuit walking operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206242834U true CN206242834U (en) | 2017-06-13 |
Family
ID=59007586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621377522.4U Active CN206242834U (en) | 2016-12-15 | 2016-12-15 | One kind can flight formula power circuit walking operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206242834U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476547A (en) * | 2016-12-15 | 2017-03-08 | 济南舜风科技有限公司 | One kind can flight formula power circuit walking operation robot and its method |
| CN110341948A (en) * | 2019-07-22 | 2019-10-18 | 金陵科技学院 | A kind of primary and secondary cooperating type inspection flying robot |
| CN110371291A (en) * | 2019-06-13 | 2019-10-25 | 西安交通大学 | A kind of steady upper lower thread mechanism of high voltage transmission line flight crusing robot |
| CN110466760A (en) * | 2019-08-09 | 2019-11-19 | 国网天津市电力公司 | A kind of power patrol unmanned machine auxiliary mechanical arm and its control system |
-
2016
- 2016-12-15 CN CN201621377522.4U patent/CN206242834U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476547A (en) * | 2016-12-15 | 2017-03-08 | 济南舜风科技有限公司 | One kind can flight formula power circuit walking operation robot and its method |
| CN106476547B (en) * | 2016-12-15 | 2019-07-09 | 济南舜风科技有限公司 | One kind can flight formula power circuit walking operation robot and its method |
| CN110371291A (en) * | 2019-06-13 | 2019-10-25 | 西安交通大学 | A kind of steady upper lower thread mechanism of high voltage transmission line flight crusing robot |
| CN110341948A (en) * | 2019-07-22 | 2019-10-18 | 金陵科技学院 | A kind of primary and secondary cooperating type inspection flying robot |
| CN110466760A (en) * | 2019-08-09 | 2019-11-19 | 国网天津市电力公司 | A kind of power patrol unmanned machine auxiliary mechanical arm and its control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106476547B (en) | One kind can flight formula power circuit walking operation robot and its method | |
| CN206242834U (en) | One kind can flight formula power circuit walking operation robot | |
| CN106542092B (en) | One kind can flight formula work high above the ground robot and its method | |
| CN203387113U (en) | Flight device for hanging sag rope onto electric transmission line | |
| CN206313365U (en) | It is a kind of with recessed box structure can flight formula work high above the ground robot | |
| CN203345981U (en) | Intelligent monitoring tower type crane | |
| WO2017126820A1 (en) | Variable flying robot | |
| CN203839819U (en) | Obstacle surmounting mechanical arm suitable for power transmission line inspection robot | |
| CN106786170A (en) | Transmission line polling robot | |
| CN103972816A (en) | Obstacle-crossing mechanical arm suitable for power transmission line inspection robot | |
| CN106393054B (en) | A kind of inspection robot and its method of conduct monitoring at all levels power circuit | |
| CN210278036U (en) | Fire-fighting robot of transformer substation | |
| CN106741854A (en) | A kind of rigidity decoupling empennage governor motion | |
| CN106312996A (en) | Device and method for automatically getting on/off line by autonomous obstacle-surmounting inspection robot for overhead transmission line | |
| CN104283153A (en) | Rotor-wing-type power transmission line patrol inspection walking mechanism capable of crossing obstacles | |
| KR20180007196A (en) | Transformable flying robot | |
| CN102922529B (en) | Inspection robot system along split conductors | |
| Gulzar et al. | High-voltage transmission line inspection robot | |
| CN105610088B (en) | A kind of power equipment automatic inspection device | |
| CN107059611A (en) | Many rotor drag-line detection robots and its method detected for drag-line | |
| CN111923014B (en) | Manned air shaft inspection robot and air shaft inspection method | |
| CN105965524A (en) | Patrolling robot of iron tower and working method thereof | |
| CN105811300B (en) | A kind of radio communication type multifunctional large-scale transmission line overhauling device | |
| KR101965362B1 (en) | Unmanned aircraft for power cable checking using take-off and landing on power cable | |
| CN110618358A (en) | Flying on-line and off-line insulator string detection robot system, platform and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |